Mike, rospy.signal_shutdown() is the recommended way to shutdown. See http://www.ros.org/wiki/rospy/Overview/Initialization%20and%20Shutdown If you have a patch for a program that you think might be useful to others, the best thing to do is to open a ticket in the appropriate trac for the repo in which the code lives. In this case wg-ros-pkg https://code.ros.org/trac/wg-ros-pkg/newticket You can find what repository a package is hosted in from it's wiki page. http://www.ros.org/wiki/pr2_tuckarm Tully On Mon, Jun 28, 2010 at 4:23 PM, Michael Styer wrote: > Hello, > > I've been learning ROS and the PR2 software this week and last at Bosch > RTC. Today I've been looking at the pr2_tuck_arms_action node in > pr2_common_actions. I couldn't figure it out for a while because it > didn't have a help option, and it didn't exit at the end when it was > supposed to. So I looked into it a bit and I've written a version that > adds a help option and calls rospy.signal_shutdown(...) (instead of > exit()) to quit. > > So I have a quick question -- is that the right way to force shutdown of > a node? The script called exit() before, which didn't seem to work, but > is there another method I should use? > > Then, if it would be useful, I can share my revised script, or a diff -- > just let me know what the standard procedure is. > > Thanks! > > Mike > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -- Tully Foote Systems Engineer Willow Garage, Inc. tfoote@willowgarage.com (650) 475-2827